Package com.irurueta.ar.slam

Class AbsoluteOrientationConstantVelocityModelSlamCalibrator

java.lang.Object

com.irurueta.ar.slam.BaseSlamCalibrator<AbsoluteOrientationConstantVelocityModelSlamCalibrationData>

com.irurueta.ar.slam.AbsoluteOrientationBaseSlamCalibrator<AbsoluteOrientationConstantVelocityModelSlamCalibrationData>

com.irurueta.ar.slam.AbsoluteOrientationConstantVelocityModelSlamCalibrator

public class AbsoluteOrientationConstantVelocityModelSlamCalibrator
extends AbsoluteOrientationBaseSlamCalibrator<AbsoluteOrientationConstantVelocityModelSlamCalibrationData>

Processes data to estimate calibration for absolute orientation with constant velocity model SLAM estimator. This class must be used while gathering data for a system being kept constant (under no motion).

Nested Class Summary

Nested classes/interfaces inherited from class com.irurueta.ar.slam.BaseSlamCalibrator

BaseSlamCalibrator.BaseSlamCalibratorListener<D extends BaseCalibrationData>

Field Summary

Fields

Modifier and Type	Field	Description
private final com.irurueta.geometry.Quaternion	deltaOrientation	Variation of orientation respect to last sample.
private double	lastAngularSpeedX	Last sample of angular speed along x-axis.
private double	lastAngularSpeedY	Last sample of angular speed along y-axis.
private double	lastAngularSpeedZ	Last sample of angular speed along z-axis.
private com.irurueta.geometry.Quaternion	lastOrientation	Last sample of absolute orientation.
private long	lastTimestampNanos	Last timestamp of a full sample expressed in nanoseconds since the epoch time.

Fields inherited from class com.irurueta.ar.slam.AbsoluteOrientationBaseSlamCalibrator

accumulatedOrientation, accumulatedOrientationSamples, orientationTimestampNanos

Fields inherited from class com.irurueta.ar.slam.BaseSlamCalibrator

accelerometerTimestampNanos, accumulatedAccelerationSampleX, accumulatedAccelerationSampleY, accumulatedAccelerationSampleZ, accumulatedAccelerometerSamples, accumulatedAngularSpeedSampleX, accumulatedAngularSpeedSampleY, accumulatedAngularSpeedSampleZ, accumulatedGyroscopeSamples, accumulationEnabled, converged, convergenceThreshold, covDiff, DEFAULT_CONVERGENCE_THRESHOLD, DEFAULT_ENABLE_SAMPLE_ACCUMULATION, DEFAULT_MAX_NUM_SAMPLES, DEFAULT_MIN_NUM_SAMPLES, estimator, failed, finished, gyroscopeTimestampNanos, listener, maxNumSamples, meanDiff, MIN_SAMPLE_LENGTH, minNumSamples, N_COMPONENTS_3D, NANOS_TO_SECONDS, previousCovariance, previousMean, sample, sampleCount

Constructor Summary

Constructors

Constructor	Description
AbsoluteOrientationConstantVelocityModelSlamCalibrator()	Constructor.

Method Summary

Modifier and Type	Method	Description
AbsoluteOrientationConstantVelocityModelSlamCalibrationData	getCalibrationData()	Gets a new instance containing calibration data estimated by this calibrator.
protected int	getEstimatorStateLength()	Obtains the number of state parameters in associated SLAM estimator.
protected void	processFullSample()	Processes a full sample of accelerometer and gyroscope data to compute statistics such as mean and covariance of variations.
void	reset()	Resets calibrator.

Methods inherited from class com.irurueta.ar.slam.AbsoluteOrientationBaseSlamCalibrator

getAccumulatedOrientation, getAccumulatedOrientation, getAccumulatedOrientationSamples, getMostRecentTimestampNanos, getOrientationTimestampNanos, isFullSampleAvailable, isOrientationSampleReceived, notifyFullSampleAndResetSampleReceive, updateOrientationSample

Methods inherited from class com.irurueta.ar.slam.BaseSlamCalibrator

getAccelerometerTimestampNanos, getAccumulatedAccelerationSample, getAccumulatedAccelerationSample, getAccumulatedAccelerationSampleX, getAccumulatedAccelerationSampleY, getAccumulatedAccelerationSampleZ, getAccumulatedAccelerometerSamples, getAccumulatedAngularSpeedSample, getAccumulatedAngularSpeedSample, getAccumulatedAngularSpeedSampleX, getAccumulatedAngularSpeedSampleY, getAccumulatedAngularSpeedSampleZ, getAccumulatedGyroscopeSamples, getCalibrationData, getControlCovariance, getControlCovariance, getControlDistribution, getControlDistribution, getControlMean, getControlMean, getConvergenceThreshold, getGyroscopeTimestampNanos, getListener, getMaxNumSamples, getMinNumSamples, getSampleCount, getSampleLength, isAccelerometerSampleReceived, isAccumulationEnabled, isConverged, isFailed, isFinished, isGyroscopeSampleReceived, propagateWithControlJacobian, propagateWithControlJacobian, setAccumulationEnabled, setConvergenceThreshold, setListener, setMaxNumSamples, setMinNumSamples, updateAccelerometerSample, updateAccelerometerSample, updateGyroscopeSample, updateGyroscopeSample, updateSample

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

lastAngularSpeedX

private double lastAngularSpeedX

Last sample of angular speed along x-axis.

lastAngularSpeedY

private double lastAngularSpeedY

Last sample of angular speed along y-axis.

lastAngularSpeedZ

private double lastAngularSpeedZ

Last sample of angular speed along z-axis.

lastTimestampNanos

private long lastTimestampNanos

Last timestamp of a full sample expressed in nanoseconds since the epoch time.

lastOrientation

private com.irurueta.geometry.Quaternion lastOrientation

Last sample of absolute orientation.

deltaOrientation

private final com.irurueta.geometry.Quaternion deltaOrientation

Variation of orientation respect to last sample.

Constructor Details

AbsoluteOrientationConstantVelocityModelSlamCalibrator

public AbsoluteOrientationConstantVelocityModelSlamCalibrator()

Constructor.

Method Details

reset

public void reset()

Resets calibrator.

Overrides:

reset in class BaseSlamCalibrator<AbsoluteOrientationConstantVelocityModelSlamCalibrationData>

getEstimatorStateLength

protected int getEstimatorStateLength()

Obtains the number of state parameters in associated SLAM estimator.

Specified by:

getEstimatorStateLength in class BaseSlamCalibrator<AbsoluteOrientationConstantVelocityModelSlamCalibrationData>

Returns:

number of state parameters.

getCalibrationData

public AbsoluteOrientationConstantVelocityModelSlamCalibrationData getCalibrationData()

Gets a new instance containing calibration data estimated by this calibrator.

Specified by:

getCalibrationData in class BaseSlamCalibrator<AbsoluteOrientationConstantVelocityModelSlamCalibrationData>

Returns:

a new calibration data instance.

processFullSample

protected void processFullSample()

Processes a full sample of accelerometer and gyroscope data to compute statistics such as mean and covariance of variations.

Specified by:

processFullSample in class BaseSlamCalibrator<AbsoluteOrientationConstantVelocityModelSlamCalibrationData>